共查询到20条相似文献,搜索用时 46 毫秒
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为提高汽车生产中涂胶工序的工作效率和空间利用率,改善机器人避障性能,设计了一款具有7自由度的冗余度工业涂胶机器人,并对其控制方法开展研究。针对现有PID控制方法应用于非线性时变的多自由度多刚体串联式开链系统时,控制效果有限、难以达到系统精度要求等问题,基于传统PID控制和模糊自适应控制算法,提出了一种带有重力补偿的模糊自适应PID混合控制方法。该方法在对冗余度工业机器人进行动力学分析的基础上,基于牛顿-欧拉分析法建立了冗余度机器人动力学模型,基于动力学分析设计了带有重力补偿的模糊自适应参数整定PID控制策略,建立了控制器模型,通过Matlab仿真实验表明,具有模糊自适应参数整定PID控制较有重力补偿的传统PID控制具有更好的控制效果。 相似文献
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介绍了基础激励下机构随机振动响应的理论与分析方法.利用有限元分析软件ANSYS建立了某空间望远镜相关跟踪系统摆镜的有限元模型,并进行了随机振动响应分析.通过分析考察了其承受动力学环境的能力.对计算结果进行了分析.指出了现有结构中的薄弱环节,提出了改进方案,为摆镜的设计提供了重要参考依据. 相似文献
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针对一种产生机械孤波的多摆耦合系统建立了动力学模型,利用MATLAB进行了数值模拟并搭建装置进行了实验.模拟显示系统存在多种形式的孤波解.在实验中也发现了机械孤波,而且实测孤波速度与驱动强度的依赖关系定性上与数值模拟结果一致. 相似文献
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在建立压气机、燃烧室、透平、回热器、转轴转动惯性等单元部件动态模型的基础上,建立了恒转速简单和回热型微型燃气轮机的系统动态模型及其控制系统模型,对其冷启动、升降负荷和甩负荷动态过程进行了动态模拟,并对两者的动态性能进行了对比。结果表明,系统动态模型能够有效地对系统的各个典型动态过程进行模拟与分析,计算稳定可靠,可为微燃机控制系统设计与分析提供模型基础;控制系统设计合理,能够满足调节负荷和转速的要求,保证循环系统安全运行;回热器的热惯性和扰动幅度是影响微燃机系统响应的重要因素。 相似文献
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环形倒立摆系统以其非线性、不稳定、高阶的、强耦合的特性,已经成为控制理论教学以及模拟机器人行走、卫星飞行姿态等复杂系统控制的重要实验平台;文章中引入了LQR控制算法,实现对倒立摆的稳定控制;而为了避免LQR控制器设计过程中反复调节加权矩阵Q,R的复杂性,同时得到更优异的控制效果,将人工蜂群(ABC)算法应用于LQR控制器设计中;而为了克服传统蜂群算法的缺陷,加快收敛速度和增加种群的多样性,在雇佣蜂阶段和跟随蜂阶段对算法进行了改进;仿真结果表明,改善的ABC算法的能够很好地完成LQR控制器参数寻优,控制效果良好。 相似文献
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为了提高LED光源色温和亮度的调节精度和准确度,结合色温由低向高变化时光色所呈现的渐变特点,提出了一种低色温白光LED灯珠、高色温白光LED灯珠加红绿蓝光LED灯珠补偿式调光的方法.将色温分成三个部分进行调节,每个部分选用不同的LED灯珠组合来进行调光.实验结果表明:不同组合情况下的LED光源的初始输出色温相对于目标值的偏差范围在1%以内;亮度可以在保证色温不变的情况下独立进行调节,初始输出值与目标值的偏差范围在1%以内;经过微调之后可以达到目标值;达到了色温和亮度独立调节的要求;光源发光稳定,不会因为长时间工作而影响调节精度. 相似文献
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Muonic and pionic X-rays of the L- and M-series in C and O have been measured with a Si(Li) detector in the energy range between 7 keV and 60 keV. The target consisted of mylar (C5H4O2). Energies and intensities of 21 transitions have been determined. The strong interaction shift of the pionic 2p level in O was measured and found to be +4.1 ±2.3 eV. The measured width of this level is 11±6 eV. The measured yields have been compared with cascade calculations. 相似文献
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A technique combining image processing and laser interferometry for visualizing and detecting the deformation of transparent cylindrical and spherical sample is proposed. This deformation includes geometric deformation such as volume transition in profilometry and physical deformation such as refractive index change in tomography. Phase contour lines are used for quantitative analysis and graphical representation of the deformation. This method allows us to visually detect the spatial variation of the deformation field and to evaluate the test quality such as misalignment of optical system. A theoretical analysis using phase contour map to characterize the deformation field is described in detail. A method using phase contour map to qualify the interferometric test is proposed. Analysis of test examples is carried out. Suggestions on using phase contour line method to ameliorate test system design are finally discussed. 相似文献
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We show that good approximations to the exact equivalent local potential (ELP) and damping factor of a nonlocal Perey-Buck potential can be calculated in the partial wave WKB approximation of Horiuchi. The exact ELP and damping factor are obtained by means of a method previously given by one of us. We also confirm that an approximate ELP proposed by Bauhoff et al. is of comparable accuracy as the Horiuchi approximation. Thesel-dependent ELP's exhibit reduced attraction in the interior and provide a test for higher order WKB approximations. We subsequently obtain an equivalent velocity dependent potential (EVDP) which is even exactly wave function equivalent to the original nonlocal potential. This almost local potential, unlike the trivial equivalent local potential, is smooth and well-behaved and is therefore particularly useful in nuclear reactions where the off-shell behaviour of the potential is important. 相似文献
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Mario Rabinowitz 《International Journal of Theoretical Physics》2009,48(3):706-722
Discrepancies and accords between quantum (QM) and classical mechanics (CM) related to expectation values and periods are
generally found for both the harmonic oscillator (SHO) and a free particle in a box (FPB), which may apply generally. These
indicate non-locality is expected throughout QM. The FPB energy states violate the Correspondence Principle. Previously unexpected
accords are found and proven that 〈x
2〉
CM
=〈x
2〉
QM
and τ
CM
=τ
QMb
(beat period i.e. beats between the phases for adjoining energy states) for the SHO for all quantum numbers, n. However, for the FPB the beat periods differ at small n. It is shown that a particle’s velocity in an infinite square well varies, no matter how wide the box, nor how far the particle
is from the walls. The quantum free particle variances share an indirect commonality with the Aharonov-Bohm and Aharonov-Casher
effects in that there is a quantum action in the absence of a force. The concept of an “Expectation Value over a Partial Well
Width” is introduced. This paper raises the question as to whether these inconsistencies are undetectable, or can be empirically
ascertained. These inherent variances may need to be fixed, or nature is manifestly more non-classical than expected. 相似文献
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Sergio Doplicher 《Foundations of Physics》2010,40(7):719-732
It was shown in the early seventies that, in Local Quantum Theory (that is the most general formulation of Quantum Field Theory,
if we leave out only the unknown scenario of Quantum Gravity) the notion of Statistics can be grounded solely on the local
observable quantities (without assuming neither the commutation relations nor even the existence of unobservable charged field
operators); one finds that only the well known (para)statistics of Bose/Fermi type are allowed by the key principle of local
commutativity of observables. In this frame it was possible to formulate and prove the Spin and Statistics Theorem purely
on the basis of First Principles. 相似文献